Fixed build with OpenCV4 (#322)

corelib/src/Features2d.cpp

@@ -948,6 +948,8 @@ void ORB::parseParameters(const ParametersMap & parameters)
 	{
 #if CV_MAJOR_VERSION < 3
 		_orb = cv::Ptr<CV_ORB>(new CV_ORB(this->getMaxFeatures(), scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, scoreType_, patchSize_, parameters));
+#elif CV_MAJOR_VERSION > 3
+		_orb = CV_ORB::create(this->getMaxFeatures(), scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, (cv::ORB::ScoreType)scoreType_, patchSize_, fastThreshold_);
 #else
 		_orb = CV_ORB::create(this->getMaxFeatures(), scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, scoreType_, patchSize_, fastThreshold_);
 #endif
@@ -1548,7 +1550,9 @@ void KAZE::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kKAZENOctaveLayers(), nOctaveLayers_);
 	Parameters::parse(parameters, Parameters::kKAZEDiffusivity(), diffusivity_);
 
-#if CV_MAJOR_VERSION > 2
+#if CV_MAJOR_VERSION > 3
+	kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, (cv::KAZE::DiffusivityType)diffusivity_);
+#elif CV_MAJOR_VERSION > 2
 	kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, diffusivity_);
 #else
 	UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");

corelib/src/camera/CameraFreenect.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UThread.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/core/util2d.h>
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_FREENECT
 #include <libfreenect.h>

corelib/src/camera/CameraFreenect2.cpp

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UMath.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/core/util2d.h>
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_FREENECT2
 #include <libfreenect2/libfreenect2.hpp>

corelib/src/camera/CameraImages.cpp

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/util3d.h>
 #include <rtabmap/core/util3d_filtering.h>
 #include <rtabmap/core/Graph.h>
+#include <opencv2/imgproc/types_c.h>
 #include <fstream>
 
 namespace rtabmap

corelib/src/camera/CameraK4W2.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/core/util2d.h>
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_K4W2
 #include <Kinect.h>

corelib/src/camera/CameraOpenNI2.cpp

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/core/util2d.h>
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_OPENNI2
 #include <OniVersion.h>

corelib/src/camera/CameraOpenNICV.cpp

@@ -26,6 +26,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/camera/CameraOpenNICV.h>
 #include <rtabmap/utilite/UTimer.h>
+#include <opencv2/videoio/videoio_c.h>
 
 namespace rtabmap
 {

corelib/src/camera/CameraOpenni.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/utilite/UTimer.h>
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_OPENNI
 #include <pcl/io/openni_grabber.h>

corelib/src/camera/CameraRealSense.cpp

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UMath.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/core/util2d.h>
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_REALSENSE
 #include <librealsense/rs.hpp>

corelib/src/camera/CameraRealSense2.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UThreadC.h>
 #include <rtabmap/utilite/UConversion.h>
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_REALSENSE2
 #include <librealsense2/rs.hpp>

corelib/src/camera/CameraStereoDC1394.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraStereoDC1394.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UConversion.h>
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_DC1394
 #include <dc1394/dc1394.h>

corelib/src/camera/CameraStereoImages.cpp

@@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/camera/CameraStereoImages.h>
 #include <rtabmap/utilite/UStl.h>
+#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap
 {

corelib/src/camera/CameraStereoVideo.cpp

@@ -28,6 +28,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraStereoVideo.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UConversion.h>
+#include <opencv2/videoio/videoio_c.h>
+#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap
 {

corelib/src/camera/CameraVideo.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraVideo.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UConversion.h>
+#include <opencv2/videoio/videoio_c.h>
 
 namespace rtabmap
 {

corelib/src/odometry/OdometryDVO.cpp

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UStl.h"
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_DVO
 #include <dvo/dense_tracking.h>

corelib/src/odometry/OdometryFovis.cpp

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UStl.h"
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_FOVIS
 #include <libfovis/fovis.hpp>

corelib/src/odometry/OdometryMSCKF.cpp

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UStl.h"
 #include "rtabmap/utilite/UThread.h"
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_MSCKF_VIO
 #include <msckf_vio/image_processor.h>

corelib/src/odometry/OdometryORBSLAM2.cpp

@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UStl.h"
 #include "rtabmap/utilite/UDirectory.h"
 #include <pcl/common/transforms.h>
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_ORB_SLAM2
 #include <System.h>

corelib/src/odometry/OdometryOkvis.cpp

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UStl.h"
 #include "rtabmap/utilite/UThread.h"
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_OKVIS
 #include <iostream>

corelib/src/odometry/OdometryViso2.cpp

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UTimer.h"
 #include "rtabmap/utilite/UStl.h"
+#include <opencv2/imgproc/types_c.h>
 
 #ifdef RTABMAP_VISO2
 #include <viso_stereo.h>